Studing of PID parameter optimization method for attitude controller of quadrotor

被引：0

作者：

Li, Xun ^{[1
]}

Qu, Shiru ^{[1
]}

Cai, Lei ^{[1
]}

机构：

[1] Department of Automatic Control, Northwestern Polytechnical University, Xi'an

来源：

Journal of Computational Information Systems | 2014年 / 10卷 / 18期

关键词：

Evolutionary algorithm; Genetic algorithm; PID controller; Quadrotor UAV;

D O I：

10.12733/jcis11387

中图分类号：

学科分类号：

摘要：

In this paper, we propose a new PID control scheme based on improved Genetic Algorithm (GA) for quadrotor UAV's attitude stabilization. The attitude control system is separated into the inner and outer ring to reduce the coupling degree of the system. Two methods were proposed to speed up searching time and to avoid premature convergence of Standard Genetic Algorithm (SGA). The first method employs the conditional optimal retention strategy to select operators in SGA. The second method employs the adaptive variation strategy to improve the performance of SGA. In simulation experiments, the proposed method is compared with SGA and Zielger Nichols method. Experimental results show that the proposed controller algorithm requires only one third iterations of SGA in PID parameter settings and the steady-state parameters of step response are better than the others. Copyright © 2014 Binary Information Press.

引用

页码：7805 / 7812

页数：7

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